CN109747861A

CN109747861A - The system and method for stringer for making in site minimally tool processes

Info

Publication number: CN109747861A
Application number: CN201811292205.6A
Authority: CN
Inventors: 杰瑞·D·淳彬; 渡边成美
Original assignee: Boeing Co
Current assignee: Boeing Co
Priority date: 2017-11-02
Filing date: 2018-10-31
Publication date: 2019-05-14
Anticipated expiration: 2038-10-31
Also published as: EP3480002B1; US11565460B2; EP3480002A1; US20190127087A1; US20210179293A1; JP2019084818A; JP7156851B2; US10974850B2; CN109747861B

Abstract

Provide the system and method for the stringer for making in site minimally tool processes.Exemplary robotic end effector includes rotary reel, which has the flat material band being wrapped on spool.End effector further comprises forming boots, which includes the forming surface contacted with material bands.The first end for shaping surface corresponds to original shape, and the second end for shaping surface corresponds to termination shape.When material bands are transmitted to the second end on forming surface from the first end on forming surface, material bands are transitioned into from original shape terminates shape and stringer layer as forming deposits to and applies on surface.Shaping boots can further comprise vacuum system, to aspirate air by multiple ports to push material bands against forming surface along forming surface.

Description

The system and method for stringer for making in site minimally tool processes

Technical field

The disclosure relates generally to aircraft support constructions, and manufacture and construction more particularly, to aircraft stringer.

Background technique

In aircraft and carrier rocket structure, various surfaces, such as the covering of aircraft, can be attached to referred to as stringer or The structural support members of stringer or reinforcer.In airframe, stringer is connected to model (also referred to as rack) and in aircraft Longitudinal direction on extend.They are mainly responsible for the aerodynamic load that will act on covering and are transmitted in rack and model. In wing or horizontal stabilizer, stringer extends along spanwise and is attached between the ribs.Here major function also resides in The bending load that will act on wing is transmitted on rib and spar.

The conventionally manufactured of stiffener on composite part uses a large amount of tools.Since the size of wing and fuselage is big, use It is very expensive, heavy in the forming of these parts and processing equipment, and need a large amount of factory floor space, manpower and when Between.

Accordingly, there exist the needs to the system and method for manufacturing the improved of aircraft support construction and automation, should System and method reduce the demand to manpower, a large amount of tool processes and material processing apparatuses.

Summary of the invention

Following present simplifying for the disclosure to summarize, to provide the basic comprehension to some embodiments of the disclosure.This is general State be not the disclosure extensive overview ot, and it does not identify the disclosure key and critical elements or describe the disclosure model It encloses.Its sole purpose be introduced in simplified form as the preamble in greater detail presented later it is more disclosed herein general It reads.

Provide the robot system and end effector group for manufacturing and constructing stringer and other aircraft support constructions Part.In some instances, a kind of end effector of robot is provided, which includes rotary reel, wherein flat Flat material bands are wrapped on the spool.End effector further comprises forming boots (forming shoe), the forming boots Including the forming surface contacted with material bands.The first end for shaping surface corresponds to original shape, and shapes the of surface Two port should be in termination shape.

Material bands can be transmitted to the second end on forming surface from the first end on forming surface, so that material bands are from Beginning shape transition is to termination shape, and the stringer layer (ply) as forming deposits to and applies on surface.Terminating shape can be L shape.Terminating shape can be hat.

Forming boots can further comprise extending from forming surface to guide between the first end and second end on forming surface One group of guide rail of material bands.Shaping boots can further comprise vacuum system, to be aspirated along forming surface by multiple ports Air is to push material bands against forming surface.

End effector of robot can further comprise compression mechanism, with for the stringer layer of forming apply pressure, with The stringer layer of forming is located in and is applied on surface.Compression mechanism can be further configured to for the stringer layer of forming to be connected to It is one or more of lower: to apply the stringer layer on surface and another forming.For example, compression mechanism may include disk, the disk packet Include the contact surface of one or more parts of the stringer layer for contacting forming.As another example, compression mechanism can wrap Include angled clamping jaw.

End effector of robot can further comprise collecting reel, wherein material bands include backing substrate, work as material When band is transmitted to second end from first end, backing substrate is separated and is wrapped in material bands and collected on reel.Backing substrate It may include multiple perforation.Multiple perforation can be evenly spaced apart along the length of material bands and be used to distribute material from spool Band.

The other embodiments of the disclosure include system and method corresponding with the equipment.For example, before it may include State and/or at least part of another aspect of the theme of any one of subsequent example and aspect in, provide a kind of system, The system includes mechanical arm and end effector as described above.

Additionally provide a kind of method for constructing aircraft reinforcer.This method includes distributing strips of composite material from spool and making Strips of composite material passes through forming boots.Shaping boots includes the forming surface contacted with material bands.The first end for shaping surface can To correspond to original shape, and the second end for shaping surface can correspond to terminate shape.

Material bands are transmitted to the second end of forming boots from the first end of forming boots, so that material bands are from original shape mistake It crosses to termination shape to form stringer layer.

In some embodiments, this method further comprises pushing second end of the stringer layer of forming far from forming surface simultaneously The stringer layer of forming is positioned relative to surface is applied.This method further comprises depositing to the stringer layer of forming to apply surface On.

Below with reference to the accompanying drawings these and other embodiments are further described.

Detailed description of the invention

Figure 1A show according to one or more embodiments for reinforcer manufacture example end-effectors it is saturating View.

Figure 1B shows the viewgraph of cross-section of the stringer by method described herein and component formation.

Fig. 1 C and Fig. 1 D show the perspective of the forming boots for being used to form hat stringer according to one or more embodiments Figure.

Fig. 2A and Fig. 2 B shows the various composite layers that can be used together with the various embodiments of the disclosure.

Fig. 3 A is shown according to the another exemplary of the end effectors for L shape reinforcer of one or more embodiments Perspective view.

Fig. 3 B shows the viewgraph of cross-section of the L shape stringer by method described herein and component formation.

Fig. 3 C is shown to be shown according to the another of end effector for blade-shaped reinforcer of one or more embodiments The perspective view of example.

Fig. 3 D shows the viewgraph of cross-section of the blade-shaped stringer by method described herein and component formation.

Fig. 3 E and 3F show the perspective view of the forming boots for being used to form L shape stringer according to one or more embodiments.

Fig. 4 shows using for manufacturing minimally in higher component parts according to one or more embodiments The example process sequence of the stringer of tool processes.

Fig. 5 shows the viewgraph of cross-section of the various stringer types according to the manufacture of one or more embodiments.

Fig. 6 is shown according to one or more embodiments for manufacturing the illustrative methods of aircraft stringer.

Fig. 7 be according to one or more embodiments may include integrated cooling system aircraft schematic diagram, this integrates cold But system can be used in combination with system and method as described herein.

Fig. 8 is the Aircraft Production that can use method described herein and component and the block diagram of maintenance method.

Specific embodiment

In the following description, numerous specific details are set forth to provide the thorough understanding to stated concept.Can not have Implement stated concept in the case where there are some or all of these details.In other cases, it does not retouch in detail Well known process operation is stated, in order to avoid unnecessarily obscure described concept.Although some concepts will be described in conjunction with specific example, It should be understood that these examples are not intended to limit.On the contrary, it is intended to cover may include in the disclosure being defined by the following claims Spirit and scope in substitution, modification and equivalent.

For example, the technology that the disclosure will be described under the background of particular aircraft structure (such as skin panel).However, should It points out, the technology and mechanism of the disclosure can be applied to various other assembly of various other type of vehicle or building structure Component.In the following description, numerous specific details are set forth to provide the thorough understanding to the disclosure.It can be in these no tools The specific example embodiments of the disclosure are realized in the case where some or all of body details.In other cases, without detailed Well known process operation is described, in order to avoid unnecessarily obscure the disclosure.For clarity, this public affairs will be described in the singular sometimes The various technologies and mechanism opened.It should be noted, however, that unless otherwise stated, some embodiments include the multiple anti-of technology Multiple or mechanism multiple illustrations.

It summarizes

The present disclosure describes a kind of for being configured to the various reinforcement knots of aircraft and other vehicles or industrial system The novel assembly system of structure supporting member (such as stringer, stringer and other reinforcers).As described herein, term " stringer ", " vertical Beam ", " reinforcer ", " support construction " and " supporting member " are used interchangeably.This system can directly will be by composite material structure At multiple layers or plate layer be applied to apply surface on formed elongation support construction.Applying surface may include any compared with Gao Shui Flat build-up member, the part including various panels, basis charging and/or branch stake tool.In aircraft, various panels may include Structure in a part of skin panel or horizontal and vertical stabilizer or control surface.

The system may include mechanical arm or gantry system, have the end effector with various special-purpose members.End End actuator can be stored in composite material as band on one or more spools, and it is multiple which can according to need distribution Condensation material.When distributing composite material, composite material can pass through the forming boots with forming surface.Forming surface includes having The first end of corresponding original shape, the original shape can be flat or essentially flat.Forming surface further includes tool There is corresponding netted second end.The shape on forming surface can be gradually transitions termination shape from original shape.Terminate shape It can correspond to stringer or the shape of other support constructions desirably formed.

When strips of composite material passes through forming surface, it keeps contacting with forming surface.Therefore, when it passes through forming table When face, strips of composite material forms the laminate layers of support construction from flat or essentially flat shape transition to netted.So Afterwards, end effector deposits to the layer of forming on the desired locations for applying surface.

Additional layer can be formed and be deposited on the layer previously deposited to increase thickness and construct support construction.

However, each strips of composite material may include multiple layers, these layers may include identical or different material and/or spy Property.The formation that deposition rate and support construction can be optimized including additional layer in each strips of composite material, so that end Actuator is with can needing fewer number by applying surface.In some embodiments, end effector only can need to pass through application Surface is once to form support construction.

End effector can further comprise the various other components to work in the construction of support construction.For example, can Pass through one or more vacuum ports generation suction forces to implement vacuum mechanism with the forming surface along forming boots, so that composite wood Material strip band is sucked when it passes through forming surface and by promotion and against forming surface.

As another example, it is possible to implement various compression mechanisms are to push the layer of forming far from forming boots and/or direction Apply surface to position the layer of forming for depositing.Compression mechanism may include disk, roller, hydraulic bag or spring finger.

In some embodiments, can be used deposit to apply surface on before or during formed and combination two with On material strips bring and generate the composite supporting structure that is formed by multiple layers.For example, two L shape layers can be formed and be combined To generate the blade-shaped stringer layer for being deposited on and applying on surface.In some embodiments, it is possible to implement including angled clamping jaw Compression mechanism two L shape layers to be linked together.

In some embodiments, it is possible to implement cutting mechanism is to separate the layer of deposition with end effector.It can also be real Support roller is applied to adjust when composite material travels across end effector and optimize the geometry of the composite material.It retouches herein The system and component stated can also be used to deposit other structures (including protective cap) and basis charging.

Described system and component provides the improvement of the existing system to manufacture structural support members.Stiffener Conventionally manufactured possibility expends a large amount of manpowers and tool.For example, it is more than 20 that 110 feet of stringers for 777X, which may need weight, 000 pound of handling implement transports it, additionally needs to cover tools and equipment to shape, overturn, position and transport the component more. Therefore, existing method may be very expensive and needs a large amount of occupied area and safety equipment.

Disclosed system and method are combined from textile industry, thin film industry, composite manufacturing and automation Existing design element, to generate the efficiency that can't see in the making space in entire aerospace industry.It is provided System provides the automatic scene forming and deposition of the structural support members of forming, which reduce manpower and eliminates to a large amount of The demand of tool and material processing apparatuses.

Example embodiment

The construction of end effector and the example of component are described with reference to Figure 1A-Fig. 1 C.Figure 1A is shown according to one or more The perspective view of the example end effector 100 for reinforcer manufacture of a embodiment.According to various embodiments, end effector 100 include spool 110, and wherein strips of composite material 102 is wrapped on spool 110.End effector 100 can further comprise tool There is the component of forming boots 120, system for compacting 130 and support roller 140.These components can be connected to machine at each attachment point People's component.For example, in some embodiments, these components can be connected to the end effector of mechanical arm or portal frame.

Mechanical arm can control the position of end effector 100, to allow (on-the-fly) shape immediately of composite material 102 It deposits to and applies on surface at the stringer layer 104 applying surface scene and as forming.In various embodiments, apply table Face can be any one of various structures.For example, applying the assembling structure 150 that surface can be higher level.Some In embodiment, the assembling structure 150 of higher level can be the covering of airplane panel.In various embodiments, higher level Assembling structure 150 can be the structure in other aircaft configuration types, such as horizontal and vertical stabilizer or other control surfaces. As another example, at least part for applying surface may include branch stake tool 152 or other structures, such as basis dress Material.In yet another example, applying surface can be another strips of composite material 102.Applying surface can appoint to be described What one applies the combination of one or more of surface or another component appropriate.

In various embodiments, composite material 102 is distributed from spool 110 by the rotation of spool 110.As shown in Figure 1A, Spool 110 can rotate in the direction of arrowb, and composite material is assigned to forming boots 120.In some embodiments, it rolls up Axis 110 can also rotate in the opposite direction of arrow A.This can permit various functions, such as increase or keep composite material 102 tension between the component in entire end effector 100.In some embodiments, the rotation of spool 110 can be by electricity Machine device (not shown) (such as DC motor, servo motor, stepper motor etc.) driving.In some embodiments, one or more Motor can be connected to spool 110 and cause rotation of the spool on direction A or B to wind or distribute composite material respectively 102.In some embodiments, motor can be connected to spool 110 via gear drive or other geared systems.In other realities It applies in example, spool 110 can be for passively, and composite material 102 can distribute from spool 110, because of the stringer layer shaped 104 are fixed at one end on application surface, and end effector 100 is advanced towards opposite end in the opposite direction.

The example of strips of composite material 102 is depicted in Fig. 2A and Fig. 2 B, this example illustrate the various of composite material 102 Layer.Fig. 2A shows the various layers for the composite material that can be used together with the various embodiments of the disclosure.In various embodiments In, composite material 102 may include various pre-impregnation composite materials (or " prepreg "), such as pre-preg has thermosetting polymer base The composite fibre of material or resin system (such as epoxy resin).For example, resin system (usually epoxy resin) may be Included curing agent appropriate.Therefore, prepreg is ready to be placed on any more without addition in mold or forming surface 121 More resins.In some embodiments, composite material 102 can be resin infusion or thermoforming.

Composite material 102 may include one or more layers material.It is as shown, composite strip 102 may include first layer 210, The second layer 212 and third layer 214.In some embodiments, these layers may include identical or different material and construction.Some In embodiment, multiple layers may include being deposited in the assembling structure 150 of higher level in 102 band of composite material with optimization Rate.For example, may include including multiple layers in single 102 band of composite material to realize for each reinforcement layers Expectation thickness.The demand to additional materials to be deposited can also be reduced including multiple layers, thus malfunction during reducing manufacture Possibility.In various embodiments, composite material 102 may include more or fewer layers than describing in Fig. 2A.

In some embodiments, for various desired mechanical properties, multiple layers can be combined.For example, adjacent layer can wrap The fiber being configured to perpendicular to the fiber in another layer is included, to increase the intensity of entire composite material.In some embodiments, may be used The various design characteristics or shape of the stringer layer 104 of forming are adapted to change every layer of width.For example, as shown in Figure 2 A, the One layer 210 may include the width shorter relative to the second layer 212 and third layer 214.When strips of composite material is formed as L shape layer When, outer edge can be just bent upwards as shown in the arrow labeled as " F ", at L-shaped with shape.Therefore, when layer is bent to most When the L shaped position at end, every layer of outer edge finally can be flushed equably each other.

In some embodiments, composite material 102 is lined with backing substrate 202, this can prevent composite material 102 itself viscous It is attached on spool 110.Backing substrate 202 can be also used for preventing the layer of composite material 102 rolled from adhering to other ends holding Row device component.Fig. 2 B depicts another perspective view of backing substrate 202.In various embodiments, backing substrate may include various Material, such as paper, plastics, film, cloth etc..Therefore, for the material 102 of resin dipping, it may not be necessary to backing substrate 202.

In some embodiments, backing substrate 202 can be split to facilitate when composite material 102 is assigned from compound Material 102 removes backing substrate 202.For example, backing substrate 202 can be divided into two backing surfaces, which can be with It removes and removes on the opposite side of 102 band of composite material.In some embodiments, when backing substrate 202 is from composite material When 102 removal, backing substrate 202 can be wrapped in one or more collect on reel.For example, as shown in Figure 1A, on spool 110 Composite material 102 may include backing substrate 202.When it is assigned, backing film, and the composite material 102-A of exposure are removed Support roller 140 and forming boots 120 are engaged with to be deposited.

In some embodiments, backing substrate 202 can be at the other positions in end effector from composite material 102 Removal.For example, in some embodiments, backing substrate 202 can be when composite material 102 passes through the forming surface of forming boots 120 It is separated with composite material 102.As another example, backing substrate 202 can pass through forming boots 120 in composite material 102 Forming surface after separate before composite material 102 deposits to and applies on surface with composite material 102.

In some embodiments, backing substrate 202 may include being evenly spaced apart along the length of 102 band of composite material Multiple perforation 207.In some embodiments, it is similar to camera film, perforation 207 can be along each edge of composite material 102 Positioning.In various embodiments, perforation may include various shape, such as round or rectangular.In some embodiments, perforation is available 102 band of composite material on control spool 110.For example, one or more components (such as spool of end effector 100 110, support roller 140 or collection reel) it may include the protruding portion to form teeth structure.Such protruding portion can be formed and be arranged At protruding portion is aligned with perforation to grasp backing substrate 202 so that its in specific direction (such as shown in arrow A or B Direction) on move.

In some embodiments, perforation 207 can be used for indexing 102 band of composite material for along end effector Component realigns band.Perforation 207 can also allow for end effector tracking distribution or deposit to the material on build-up member 150 The amount of material.The rate that 207 tracking composite material of perforation can also be used mobile.Vision system, which can be used for tracking, has progressed through end Hold the quantity of the perforation of the specified point of actuator 100.

In various embodiments, exposed composite material 102-A can be fed along the forming surface of forming boots 120, be made Obtain the stringer that exposed composite material 102-A is changed into the forming constructed with certain cross section from flat original shape.So And as described above, composite material 102 and backing substrate 202 can pass through along the surface of forming boots 120.

It may include cross-sectional shape (such as the hat purlin of closure using the various stringer types that end effector 100 is formed Item) or open cross-sectional shape (such as L shape stringer).Other stringer types formed may include blade stringer, Z-shaped purlin Item, C-shaped stringer etc..Composite material 102 can be formed to have the various other shapes for the cross section opened wide or be closed.Figure 1B shows The viewgraph of cross-section of the stringer 104 by method described herein and component formation is gone out.As shown in Figure 1B, stringer 104 is shaped For the hat stringer with center cap portion 105.Inclined surface extends to substantially horizontally from every side of center cap portion 105 In flange portion 106.

In some embodiments, according to the cross-sectional shape of the stringer layer 104 of forming, shaping boots can be moved by external force It is dynamic, can be compacted and change shape when each succeeding layer 104 is applied to and applies on surface.

It is shown with reference to Fig. 1 C and Fig. 1 D, Fig. 1 C and Fig. 1 D and is used to form hat stringer according to one or more embodiments Forming boots 120 perspective view.In some embodiments, forming boots may include attachment point 122, and attachment point 122 can be used as and end Hold the surface of the support construction connection of actuator 100.In various embodiments, shaping boots (such as forming boots 120) may include into Shape surface 121, forming surface 121 include original shape end 121-A and final shape end 121-B.In various embodiments, The shape for shaping surface includes from the smoothed of the construction for being configured to final shape end 121-B of original shape end 121-A It crosses.

Fig. 1 C depicts the perspective view from the forming boots 120 of original shape end 121-A.As shown, in composite material When 102 or 102-A is initially distributed from spool 110, the shape of original shape end 121-A can be flat or close to flat , to correspond to the shape of composite material 102 or 102-A.Fig. 1 D depicts the forming boots 120 from final shape end 121-B Perspective view.As shown, final shape end 121-B corresponds to the stringer 102-A's of forming shown in Figure 1A and Figure 1B Shape.In some embodiments, exposed composite material 102-A all or part of its from spool 110 feed when keep It is contacted with forming surface 121.When composite material 102 advances to final shape end 121-B from original shape end 121-A, It can be transitioned into termination shape from original shape.For example, composite material 102 can be from the flat of original shape end 121-A Or close to flat shape transition to the hat shaped of final shape end 121-B, and as with hat shown in Figure 1B The stringer layer 104 of the forming of cross section is deposited in the assembling structure 150 of higher level.

In various embodiments, composite material 102-A is by promotion and against forming surface 121, so that composite material 102-A All or part of keep with shape surface 121 contact.In some embodiments, multiple vacuum ports 126 may include shaping On the forming surface 121 of boots 120.Such vacuum port 126 can form opening for the network of channels for the interconnection led in forming boots 120 Mouthful, by the vacuum port, negative pressure can be applied to aspirate composite material 102-A against forming surface 121.In some embodiments In, vacuum or other aspirating mechanisms can be connected to forming boots 120 at vacuum accessory 124 to generate suction force.In some realities It applies in example, aspirating mechanism can be connected to vacuum accessory 124 via round tube or hose.In some embodiments, aspirating mechanism can be with For the additional component of end effector 100.

In some embodiments, it is possible to implement other mechanisms are to push composite material 102-A against forming surface 121.Example Such as, foundation structure may include surface of base, which is configured with the shape complementary with forming surface 121.This Kind foundation structure can be positioned relative to forming boots, so that surface of base and the alignment of forming surface 121, so that composite material 102- A can space across surface of base and forming surface 121, to composite material 102-A and surface of base and shape table The contact of both faces 121.As another example, one or more compression disks may be positioned such that contact composite material 102-A simultaneously Push composite material 102-A against forming surface 121.This compression disk can be rotated to adapt to composite material 102-A and pass through The direction of travel of end effector 100.

In some embodiments, forming boots 120 may include one group of guide rail, this group of guide rail includes guide rail 128-A and 128-B. Guide rail 128-A and 128-B can be for along the bulge-structures of the length about forming surface 121.This guide rail can be used for connecing The edge of composite material 102-A is touched, to ensure that composite material 102-A is passed through when forming surface is advanced at it along forming surface 121 is placed in the middle.

In some embodiments, end effector 100 may include support roller 140, and it is multiple that support roller 140 can be implemented as modification The geometry of the traveling of condensation material 102.It is mentioned for example, support roller 140 may be positioned such that place for composite material 102 or 102-A For rotatable curved surface, the geometry that its traveling is bent and changed around curved surface is made it possible to.This can lead to Crossing allows more effectively to place or construct spool 110, forming boots 120, system for compacting 130 and/or other end effector members To minimize area occupied.In other embodiments, as shown in Figure 1A, end effector 100 may include additional or less Support roller.

In some embodiments, it may be desired to heat exposed composite material 102-A to form the shape finally shaped.? In some embodiments, heating mechanism may be positioned to apply heat to composite material 102-A.It additionally, and/or alternatively, can To apply heat by one or more other components of end effector 100.For example, forming boots 120 can be on forming surface It is heated at 121, to apply heat to composite material 102 when composite material 102 contacts forming surface 121.Such In embodiment, forming boots may include heating element, such as heating coil.In other embodiments, forming surface 121 can pass through Other modes heating, such as by means of magnetic induction.As another example, support roller (such as support roller 140) can be heated, And this heat transfer is given to composite material 102-A when composite material 102-A crosses the surface of roller 140.

In some embodiments, the stringer layer 104 of forming can be deposited on the table of the assembling structure 150 along higher level In the branch stake tool 152 that face is placed.In some embodiments, branch stake tool 152 is used for the stringer layer in placement or solidified forming Its shape is supported when 104.For example, branch stake tool 152 can be forming mandrel.This mandrel may include in various types of mandrels Any one, such as solid rubber mandrel, expanded rubber mandrel, the flushing mandrel formed by clay or powder and fly away from bubble Foam mandrel.In other examples, branch stake tool 152 can be inflatable bladder type.In some embodiments, other are supported Tool may include various radius fillers, such as the noodle shape material of its shape can be supported when the stringer layer 104 of forming solidifies.? In some embodiments, one or more branch stake tools or radius filler can be formed as the overall structure of assembling structure 150.

In some embodiments, it is possible to implement various compression mechanisms on the stringer of forming to apply pressure and it is pushed to support By assembling structure 150 and/or branch stake tool 152.For example, compression mechanism can be compression disk 130 or roller, when it is extended beyond When the shaped end 121-B of forming, the stringer layer 104 of forming is contacted.In some embodiments, compression disk 130 may include Contact surface 131, contact surface 131 contact the upper surface of the stringer layer 104 of forming at flange portion 106, to push forming Stringer layer 104 far from final shape end 121-B or against higher assembling structure 150 so that the bottom surface of stringer layer 104 Contact assembling structure 150.

Other compression mechanisms may include angled clamping jaw, hydraulic pouch, other soft rollers or spring finger.In some realities It applies in example, various types of multiple compression mechanisms can be implemented in end effector 100.In some embodiments, compressor Structure can be also used for the layer that the stringer layer 104 of forming is connected to higher assembling structure 150 or is connected to other formings.

In some embodiments, can cut composite material with by the layer of deposition be retained in it is compound on end effector Material separation.It can use the layer 104 that various compression mechanisms cut deposition after contact point.In other embodiments, it deposits Layer 104 can be cut at various other parts of end effector, such as forming boots and compression mechanism between cut.? In some embodiments, the material of deposition can be cut into be flushed with the build-up member of higher level.End effector 100 may include Cutting mechanism.

Therefore, described end effector provides the dress of the streamlined manufacture of the elongate support structure for aircraft Match.By being formed in situ composite material on application surface, reduce a large amount of tool and material processing apparatuses.In various embodiments In, required sole instrument is branch stake tool, such as cured mandrel, noodle shape material or pouch.This considerably reduce In the existing system for manufacturing structural support members by support construction transport and assemble in place needed for factory floor space, Manpower and time.

With reference to Fig. 3 A, Fig. 3 A is shown according to the end effectors 300 for L shape stringer of one or more embodiments Another exemplary perspective view.In various embodiments, end effector 300 may be configured to manufacture L shape stringer 304, L shape purlin Item 304 may include the layer of one or more formings.As shown in Figure 3A, end effector 300 includes storage composite material 302 Spool 310, first order compression mechanism 330 and high stage compressor structure 332.End effector further includes forming boots 320.In order to clear Chu Qijian simplifies forming boots 320, and indicates the relative positioning of forming boots corresponding with end effector 300.Some In embodiment, the forming boots 320 corresponding to end effector 300 can be to shape boots 120 or reference Fig. 3 E and Fig. 3 F into one Walk forming the boots 320-A or 320-B of description.

As described in previously with reference to Figure 1A, when spool 310 rotates, composite material 302 can be distributed from spool 310.Then, material Material 302 can pass through the forming surface of forming boots 320, and from flat or essentially flat shape transition to L shape stringer layer 304.With reference to Fig. 3 B, Fig. 3 B shows the viewgraph of cross-section of the L shape stringer 304 formed by method described herein and component.L shape Stringer 304 may include the cross-sectional shape corresponding to alphabetical " L ", and including horizontal support legs perpendicular to one another or substantially vertical 305 and vertical leg 306.

In some embodiments, the backing substrate 360 of composite material 302 can be in the various examples for forming stringer layer 304 Any one of be removed at example.As shown in Figure 3A, after forming stringer 304, backing substrate is removed from material 302 360.As previously mentioned, the backing substrate in strips of composite material can be punished in every side of the L shape layer of forming as two individually Sheet material and removal.As shown in Figure 3A, backing substrate 360 is a part of isolated backing substrate, and another part can be It is removed on the other side of compression mechanism 330.As shown, backing substrate 360 can be removed with an angle, so as not to interfere forming Layer and higher level assembling structure 350 adherency.

In some embodiments, the L shape stringer 304 of forming can be deposited in the assembling structure 350 of higher level, the dress Distribution structure 350 may include one or more branch stake tools 352.As shown, the assembling structure 350 of higher level may include water Flat surface 350-A and vertical surface 350-B.For example, stringer 304 can be deposited into so that horizontal support legs 305 contact assemblies 350 Horizontal surface 350-A, and vertical leg 306 contacts vertical surface 350-B.As previously mentioned, branch stake tool 352 can be various Any one of branch stake tool (including mandrel, pouch or noodle shape material) of type.In some embodiments, additional L Shape stringer 304 can be deposited on the opposite side of assembling structure 350 of higher level.

After such shaping, may then pass through one or more compression mechanisms pushes the stringer of forming far from forming boots.? In the embodiment of Fig. 3 A description, end effector 300 may include first order compression mechanism 330 and high stage compressor structure 332.? In some embodiments, compression mechanism 330 and 332 is alternatively and/or in addition for the assembling structure 350 towards higher level Apply pressure for connecting to forming stringer layer 304.In various embodiments, compression mechanism 330 and 332 can be to retouch herein Any one of compression mechanism stated.In some embodiments, compression mechanism can be hinged or including more than one piece, so as to energy It is enough to carry out uniform compaction when adding additional layer, so that support construction be made to change thickness.

For example, as shown in Figure 3A, first order compression mechanism 330 may include compression disk, the accessible forming of the compression disk Stringer layer 304 surface at least part, and high stage compressor structure 332 may include angled clamping jaw, the angulation At least part on the surface of the stringer layer 304 of the accessible forming of the clamping jaw of degree.Clamping jaw may include compatible with the shaping form of layer Shape, be in this case open L shape.In some embodiments, the compression disk of first order compression mechanism 330 can be with Lighter power is applied to the stringer layer 304 of forming, to push it to position far from forming boots or by it towards assembling structure 350.So Afterwards, the clamping jaw of high stage compressor structure 332 can apply larger and more accurate power to the stringer layer 304 of forming, be connected It connects on one or more surfaces of assembling structure 350.

In some embodiments, two L shape stringer layers can be compressed to form blade-shaped stringer against another layer.Under Face further describes the embodiment for being used to form the end effector of blade-shaped stringer 370 with reference to Fig. 3 C.Fig. 3 C shows basis Another exemplary perspective view of the end effector 301 for blade-shaped stringer 370 of one or more embodiments.In various realities It applies in example, end effector may be configured to the layer by connecting multiple formings to construct composite supporting structure.For example, can be with It is formed and combines two L shape layers to generate single blade shape stringer layer 370, this will be further described with reference to Fig. 3 D.

In some embodiments, end effector 301 may include the example of two end effectors 300, they are in each other About 90 degree of ground perpendicular positionings.In other words, end effector 301 may include two such same components of balanced configuration.Such as Shown in Fig. 3 C, end effector 301 includes two composite material spools, the spool including storing strips of composite material 302-A The spool 310-B of 310-A and storage strips of composite material 302-B.In some embodiments, spool 310-A and/or 310-B can Think spool 310, and composite strip 302-A and 302-B can be composite strip 302.Then can by material 302-A and Each of 302-B is assigned to forming boots from corresponding spool, and at the forming boots, each composite strip is configured to L shape layer.It is multiple L shape layer 304-A can be formed as by closing band 302-A, and composite strip 302-B can be formed as L shape layer 304-B.

As shown in Figure 3 C, for the sake of clarity, forming boots 320 are simplified, and indicate to correspond to end effector 301 The relative positioning of the first forming boots of material 302-A.In some embodiments, the first forming boots 320 can for reference to Fig. 3 E and Forming the boots 320-A or 320-B that 3F is further described.Second forming boots can be located at corresponding position with grafting material 302-B. In various embodiments, the second forming boots of end effector 301 may include identical as the first forming boots of end effector 301 Or different construction.

As previously mentioned, composite strip 302-A and 302-B can include respectively backing substrate, to prevent band from adhering to spool In its own or end effector 301 in other component.Composite strip 302-A and 302-B are being respectively formed as L shape layer After 304-A and 304-B, backing substrate can be removed from composite material 302-A and 302-B.As shown, material 302-A It may include the backing substrate for being divided into backing 360-A1 and 360-A2, which can be in any of composite strip 302-A It is removed after being formed on side.In some embodiments, backing substrate 160-A1, which can be wrapped in, collects on reel 340 for collecting And it is followed by subsequent processing or recycles.Backing 360-A2 can be collected by other collection reel (not shown).Material 302-B can be with Including the backing substrate cap separated by collecting drum collection accordingly.However, in some embodiments, point of material 302-B From one of backing can be collected together with backing 360-A1 by collection reel 340.

As described above, forming L shape layer 304-A can connect with 304-B together with to form blade-shaped stringer layer 370. As shown in Figure 3D, Fig. 3 B shows the viewgraph of cross-section of the blade-shaped stringer 370 by method described herein and component formation. As stringer layer 304, each L shape layer 304-A and 304-B may include the cross-sectional shape corresponding to alphabetical " L ", and including that This vertical or substantially vertical horizontal support legs 375 and vertical leg 376.

L shape layer 304-A and 304-B can extend from forming boots towards first and second grades of compression mechanisms.First order compression Mechanism 330-A and high stage compressor 332-A can contact the layer 304-A of forming, and first order compression mechanism 330-B and second Grade compression mechanism 332-B can contact the layer 304-B of forming.As shown, the first order compression mechanism 330-A and 330-B can be with To compress disk, push the layer of forming far from their own forming boots and/or the layer shaped towards another.

In some embodiments, high stage compressor structure 332-A and 332-B may include angled clamping jaw.Mechanism 332-A With 332-B can the supporting leg 376 to the layer of each forming apply equal and opposite pressure, to connect vertical leg 376.Once Vertical leg has adhered to, and just forms blade-shaped stringer layer 370.In various embodiments, clip claw mechanism may be implemented as connecting Other composite stringers shapes, such as further describe with reference to Fig. 5.In some embodiments, first order compression mechanism 330-A and 330- B can also apply opposite pressure to connection leg 376.

Then blade-shaped stringer 370 can be deposited on the application surface 350 including branch stake tool 352.In some realities It applies in example, compression mechanism can also apply downward pressure and apply surface to be connected to the horizontal support legs 375 of stringer layer 370. In some embodiments, the vertical leg 376 of blade stringer 370 can be sewed by suturing mechanism or is stitched together to be used for Additional attachment support.For example, the composite material comprising dry fabric can be sewed with fiber.In some embodiments, it sutures Mechanism may be the component of end effector.In some embodiments, suturing mechanism can for individual end effector or Equipment.

Fig. 3 E and Fig. 3 F show the perspective of the forming boots for being used to form L shape stringer according to one or more embodiments Figure.Fig. 3 E shows forming boots 320-A, and Fig. 3 F shows forming boots 320-B.In various embodiments, boots 320-A is shaped It can correspond to the forming boots 320 of end effector 300 and/or 301 with 320-B.Forming boots 320-A and 320-B can be configured At being used to form L shape stringer, such as stringer 304,304-A and/or 304-B.

As shown, forming boots 320-A may include with original shape end 321-A1 and final shape end 321-A2 Forming surface 321-A.In some embodiments, original shape end 321-A1 can be flat or close to flat shape Shape, to correspond to the shape of the composite material 302 when composite material 302 is initially distributed from spool 310.In some embodiments, Final shape end 321-A2 corresponds to the L shape of the stringer 302 of forming shown in Fig. 3 A and Fig. 3 B.As shown, shape boots 320-B may include the forming surface 321-B with original shape end 321-B1 and final shape end 321-B2.In some realities It applies in example, original shape end 321-B1 can be flat or close to flat shape, work as composite material 302 most to correspond to The shape of composite material 302 when just being distributed from spool 310.In some embodiments, final shape end 321-B2 corresponds to figure The L shape of the stringer 304 of forming shown in 3A and Fig. 3 B.

When composite material crosses forming surface 321-A or 321-B, it is respectively from original shape end 321-A1 or 321- Shape of the shape transition of B1 to final shape end 321-A2 or 321-B2.The M arrow instruction described in Fig. 3 E and Fig. 3 F is multiple The direction of travel of condensation material 302.

Shape boots 320-A or 320-B can via various attachment points be fixed to end effector structure, such as 300 or 301.In some embodiments, forming boots 320-A may include that mechanical compartment 323 can mechanically be consolidated in mechanical compartment 323 Determine connector or other structures.In some embodiments, forming boots 320-B may include attachment point 322, attachment point 322 can be used as into Enter the device in end effector structures.Forming boots described herein can be connected to end via the structure or connector of connection Actuator, to allow to carry out necessary movement and adjustment during operation.

In some embodiments, composite material 302 is by promotion and against forming surface 321-A or 321-B, so as to compound Material 302 feeds from spool 310 and keeps contacting with forming surface 321-A when crossing forming surface 321-A.As previously mentioned, can To implement various mechanisms so that composite material 302 is held against forming surface.As shown in Fig. 3 E and Fig. 3 F, forming boots 320-A and 320-B respectively includes one or more vacuum port 326-A and 326-B.Vacuum or other aspirating mechanisms are generated negative by vacuum port Composite material 302 is drawn on forming surface by pressure.In some embodiments, aspirating mechanism can be to be connected to end to hold The additional components of row device.In some embodiments, this aspirating mechanism can be located in mechanical compartment 323.

Also as before, heating mechanism also may include to heat composite material in end effector, by its mould The termination shape of stringer formed thereby is made.In some embodiments, heating mechanism may be alternatively located in mechanical compartment 323.

In various embodiments, forming boots 320-A or 320-B can further comprise guide rail, to distinguish in composite material 302 Keep composite material 302 placed in the middle when crossing forming surface 321-A or 321-B.Shaping boots 320-A includes one group of guide rail, which leads Rail includes the first guide rail 328-A and the second guide rail 328-B.Shaping boots 320-B includes one group of guide rail, this group of guide rail is led including first Rail 329-A and the second guide rail 329-B.As previously mentioned, each guide rail may be configured to answer in the more out-of-date contact of composite material 302 The edge of condensation material 302 is to form track, to prevent composite material 302 on except any other direction as shown in arrow M Transverse shifting.

Fig. 4 shows using for manufacturing minimally in higher component parts according to one or more embodiments The example process sequence 400 of the stringer of tool processes.Fig. 4 depicts the viewgraph of cross-section of build-up member.

In step (A), the build-up member 402 of higher level can be prepared and get out stringer and other support constructions.Such as Preceding described, the build-up member of higher level can be the skin panel and other structures of aircraft, such as horizontal and vertical stabilization Structure in device or control surface.

In step (B), cross-level roller location base charging 404 can be used.In some embodiments, basis charging 404 It may include multilayer materials.In some embodiments, basis charging 404 can also be held by robot end as described herein Row device automatically deposits.In various embodiments, basis charging 404 forms the uniform of the attachment for being suitable for being formed by composite material Surface.

In step (C), branch stake tool 406 (such as radius filler, mandrel or pouch) can be located in basis charging 404 On.Then, at step (D), the first layer 410 that end effector component as described herein forms composite material can be used, And it is located in basis charging 404 and branch stake tool 406.As shown, blade-shaped stringer is deposited at step (C), often A blade-shaped stringer includes two groups of L shape stringer layers.This blade-shaped stringer layer can be formed and be sunk by the end effector 301 Product.

Then, in step (E), the second layer 411 of composite material can be constructed on first layer 410.In various embodiments In, additional layer can be added to layer shown in Fig. 4.As shown, additional layer 411 is not attached to together, but anti- And including individual L shape layer.Such layer 411 can be formed and be deposited by different end effectors (such as 300).Some In embodiment, the size of the additional layer of adjustable composite material is to be suitble to the layer previously deposited.In some embodiments, end The positioning of actuator can also be automatically adjusted to correct position to deposit additional shaping layer.

In step (F), protective cap 408 can be added to each position of the layer of deposition.For example, can be by protective cap 408 are added to the top of blade-shaped stringer layer, in the top end, the layer of exposed composite material.In some embodiments, protective cap 408 can be used for preventing inadequate visible impact injury (BVID).In some embodiments, can also use system as described herein and Component forms and deposits protective cap 408.

In step (G), partition 412 can be positioned to contact with one or more surfaces of sedimentary.Partition 412 can be with For the metal plate of smooth not surface defect, it is placed with and contacts with the layer of deposition for carrying out solidification process.They Normal pressure and temperature can be transmitted, and smooth surface is provided on finished layer pressing plate.It then can be by the layer 410 of forming It is placed in vacuum bag 414 with 411 and/or build-up member 402 for obtaining additional pressure, composite layer to be held in place For being solidified in step (I).In order to solidify pre-preg layers pressing plate, it may be necessary to use the group of pressure and heat It closes.

Fig. 5 shows the viewgraph of cross-section of the various stringer types according to the manufacture of one or more embodiments.As previously joined It examines described in Fig. 4, this stringer can be deposited in the assembling structure 402 and/or basis charging 404 of higher level.This stringer Also it can use one or more branch stake tools 406 to position.In some embodiments, described system and method can also be used IML (mold line) permanent tool is realized.

Stringer 502 depicts L shape stringer.Lesser L shape stringer can also be deposited on 502 side of stringer, and along them Vertical leg connect for providing additional support.Stringer 504 depicts the modification of hat stringer.Stringer 506 depicts Z Shape stringer.Herein, lesser L shape stringer can also be deposited on the side of stringer 506, and along their vertical leg connect with For providing additional support.Stringer 508 depicts the blade-shaped of two L shape stringers of the stringer 370 including being similar to forming Stringer.As previously mentioned, stringer may also include protective cap 408.Stringer 510 depicts the I shape stringer including two C-shaped stringers 511. I shape stringer 510 can further comprise top flat layer 510-A for additional support.Stringer 512 depicts another stringer Shape, the stringer shape may include the profile segment opened wide or be closed.

Discribed includes composite stringers structure (such as the blade-shaped stringer 508 or I shape stringer of two identical half portions 510) it can be deposited by end effector, there are two spool and the forming boots being arranged symmetrically, examples for end effector configuration Such as end effector 301.This end effector provides the solution that layer is joined together to form to composite stringers.

Operating method

Additionally provide the method using described system and component manufacture aircraft stringer.With reference to Fig. 6, show according to one The illustrative methods 600 for being used to manufacture aircraft stringer of a or multiple embodiments.In various embodiments, stringer can be by machine People's end effector is formed and deposition, for automatically placing aircraft stringer using least tool during manufacture.

In step 610, strips of composite material is distributed from spool.In various embodiments, composite material can be composite wood Material 102 or 302.This composite material can wind at spool (such as on spool 110 or 310).Composite material can pass through rotation Turn spool to distribute, so that its various parts for travelling across end effector.

In step 620, strips of composite material is made to pass through forming boots.In various embodiments, forming boots can be forming boots 120 or 320.The material can contact forming boots in original shape end and travel over forming towards final shape end Surface, to form the stringer layer with desired final shape in step 630.It can be flat for shaping the original shape end of boots Or essentially flat shape, to correspond to the shape of composite material.Final shape end may include corresponding to desired purlin The construction of the shape of item.

Strips of composite material can be pushed by aspirating mechanism or other mechanical mechanisms against forming surface, so that it is protected It holds and is contacted with forming surface.When composite material passes through forming surface towards final shape end, strips of composite material can be from Essentially flat shape transition is to final desired netted.

In step 640, the composite material of forming can be pushed far from forming boots, and be located at application table 650 On face.As previously described, it is possible to implement various compression mechanisms (including compression disk, angled clamping jaw etc.) are pressure is applied to On the composite material of forming.In some embodiments, apply the assembling structure that surface can be higher level, such as 150,350 Or 402.Higher assembling structure can be skin panel or basis charging.In some embodiments, basis charging can also lead to End effector as described herein is crossed similarly to deposit.In some embodiments, a part for applying surface may also include respectively Kind branch stake tool, such as mandrel, noodle shape material or pouch, are used to keep the shape of the material of forming.

In some embodiments, applying surface can be the surface of the strips of composite material of another forming.For example, can be with It is formed simultaneously two strips of composite material and pushes them into together to be formed after forming boots release with finally netted Single stringer layer.

Then, in step 660, the composite material of forming is deposited on and is applied on surface.In some embodiments, cutting machine Structure can separate the material of deposition with the composite material being retained on end effector.In some embodiments, the material of deposition Material can be cut after various compression mechanisms.In some embodiments, the material of deposition can be cut into and higher level Build-up member flush.

In step 670, additional layer can determine whether.If you do not need to additional layer, then this method terminates.Such as Fruit needs additional layer, then this method returns to step 610, to distribute additional composite material with to be formed and distribution compound On the layer of material previously deposited.End effector can also adjust positioning to take succeeding layer to appropriate location with to be deposited. In some embodiments, imaging system can be used to identify the appropriate location for deposition of subsequent layers in end effector.

In addition, in some embodiments, can modify strips of composite material is dimensioned to conform to application surface.For example, working as When at L-shaped with the shape stringer of the additional L shape layer of deposition composites, the surface area for subsequent L shape layer can reduce.Therefore, it uses It may be needed in the strips of composite material of succeeding layer thinner.

Aircraft example

It can be retouched under aircraft 700 as shown in Figure 7 and aircraft manufacturing as shown in Figure 8 and the background of maintenance method 800 State the example of the disclosure.Fig. 7 be according to one or more embodiments may include integrated cooling system aircraft 700 signal Figure, the integrated cooling system are used together in combination with system and method as described herein.As shown in fig. 7, aircraft 700 includes having The fuselage 750 of inside 770.Aircraft 700 includes the wing 720 for being connected to fuselage 750.Aircraft 700 may also include by 720, wing The engine 730 of support.In some embodiments, aircraft 700 further comprises multiple advanced inspection systems, such as electric checking System 740 and environmental test system.

It in other embodiments, may include other any amount of inspection systems.For example, aircraft 700 may include integrating Cooling system 760.It is cooling negative to remove high heat from various electrical and/or mechanical parts that liquid may be implemented in this cooling system Lotus, otherwise its reliability that can damage system.The cooling of the contact with liquid cooling loops may be implemented in integrated cooling system 760, The liquid cooling loops include a series of pumps, heat exchanger and pipeline, pipe or hose.Integrated cooling system 760 can substitute Ground and/or the additionally cooling of realization cabinet, cabinet cooling is by making cold liquid flow over-heat-exchanger and via heat exchanger Fan distributes air in cabinet the component for cooling down and being contained in cabinet.Integrated cooling system 760 can further comprise using In the reservoir of heat-transfer fluid and discharge for accommodating the condensation and/or leakage that are conveyed by insulator arrangement as described herein Container.

According to illustrative embodiments, aircraft 700 is that wherein to may be implemented and operate described system and method (such as last Hold actuator 100) the vehicles an example.Although showing aerospace example, principle disclosed herein can To be applied to other industry, such as automobile industry.Therefore, other than aircraft 700, principle disclosed herein can be adapted for it His vehicles, such as land craft, maritime vehicles, space vehicle etc..

Fig. 8 is the Aircraft Production that can use method described herein and component and the block diagram of maintenance method.Before manufacture Period, illustrative method 800 may include the specification and design (block diagram 804) and material purchases (block diagram 806) of aircraft 700. During production, the component and sub-component that can carry out aircraft 700 manufacture (block diagram 808) and check the system integration (block diagram 810). Described equipment and corresponding operating method can be in the specifications and design (block diagram 804) of aircraft 700, material purchases (block diagram 806) it, is realized in component and any one of sub-component manufacture (block diagram 808) and/or the inspection system integration (block diagram 810).

Hereafter, aircraft 700 can be by authenticating and delivering (block diagram 812) with come into operation (block diagram 814).When coming into operation When, aircraft 700 can be scheduled for routine maintenance and maintenance (block diagram 816).Routine maintenance and service may include aircraft 700 One or more inspection systems modification, reconfigure, renovate.The equipment and corresponding operation method can recognize Card and deliver (block diagram 812), come into operation (frame 814) and/or any of routine maintenance and maintenance (frame 816) in it is real It is existing.

Each process of illustrative method 800 can be by checking system integrator, third party and/or operator (such as visitor Family) it executes or realizes.For the purpose of this specification, check that system integrator can include but is not limited to any amount of aircraft Manufacturer and main inspection system subcontractor；Third party can include but is not limited to any amount of retailer, subcontractor and supply Quotient；And operator can be airline, leasing company, military entity, service organization etc..

Conclusion

Although above-mentioned having read in order to which clearly understood purpose describes aforementioned concepts in some details After disclosure, it is obvious that some changes and modification can be implemented within the scope of the appended claims.It should infuse Meaning, there are many alternatives to realize the process, system and autoregistration clincher tool.Therefore, this example should be considered as Bright property and not restrictive.

In the description above, numerous specific details are set forth to provide the thorough understanding to disclosed concept, this public affairs Opening can implement in the case where some or all of without these details details.In other cases, it is known that device and/or The details of process has been omitted, to avoid unnecessarily making the disclosure fuzzy.Although some concepts will be described in conjunction with specific example, It should be understood that these examples are not intended to limit.

Claims

1. a kind of end effector of robot, comprising:

Energy spinning reel, wherein material bands are wrapped on the energy spinning reel；And forming boots, including with the material The forming surface of ribbon contacts,

Wherein, the first end on the forming surface corresponds to original shape, and the second end on the forming surface corresponds to eventually Only shape；

Wherein, the material bands are transmitted to described the second of the forming surface from the first end on the forming surface End, so that the material bands are transitioned into the termination shape from the original shape and stringer layer as forming is deposited to and applied Add on surface.

2. end effector of robot according to claim 1, wherein the forming boots further comprise from the forming Surface extends to guide one group of the material bands to lead between the first end and the second end on the forming surface Rail.

3. end effector of robot according to claim 1 or 2, wherein the forming boots further comprise vacuum system System, to aspirate air by multiple ports along the forming surface to push the material bands against the forming surface.

4. end effector of robot according to claim 1 or 2 further comprises compression mechanism, to be used for forming Stringer layer apply pressure, the stringer layer of forming is located on the application surface.

5. end effector of robot according to claim 4, wherein the compression mechanism be further configured to by The stringer layer of shape is connected to one or more of following: the stringer layer for applying surface and another forming.

6. end effector of robot according to claim 4, wherein the compression mechanism includes disk, the disk The contact surface of one or more parts including the stringer layer for contacting forming.

7. end effector of robot according to claim 1 or 2 further comprises collecting reel, wherein the material Band includes backing substrate, when the material bands are transmitted to the second end from the first end, the backing substrate with The material bands are separated and are wrapped on the collection reel.

8. end effector of robot according to claim 7, wherein the backing substrate includes multiple perforation, wherein The multiple perforation is evenly spaced apart along the length of the material bands and is used to distribute the material strips from the spool Band.

9. end effector of robot according to claim 1 or 2, wherein the termination shape is L shape.

10. end effector of robot according to claim 1 or 2, wherein the termination shape is hat.

11. a kind of system, comprising:

Mechanical arm；And

End effector, is connected to the mechanical arm, and the end effector includes:

Energy spinning reel, wherein material bands are wrapped on the energy spinning reel；

And

Boots are shaped, including the forming surface contacted with the material bands,

12. system according to claim 11, wherein the forming boots further comprise from the forming surface extend with One group of guide rail of the material bands is guided between the first end and the second end on the forming surface.

13. system according to claim 11 or 12, wherein the forming boots further comprise vacuum system, with along Air is aspirated to push the material bands against the forming surface by multiple ports in the forming surface.

14. system according to claim 11 or 12, wherein the end effector further comprises compression mechanism, with For applying pressure to the stringer layer of the forming, the stringer layer of forming is located on the application surface.

15. system according to claim 14, wherein the compression mechanism is further configured to the stringer layer that will be shaped It is connected to one or more of following: the stringer layer for applying surface and another forming.

16. system according to claim 14, wherein the compression mechanism includes angled clamping jaw.

17. system according to claim 11 or 12, wherein the end effector further comprises collecting reel, In, the material bands include backing substrate, described when the material bands are transmitted to the second end from the first end Backing substrate is separated with the material bands and is wrapped on the collection reel.

18. system according to claim 17, wherein the backing substrate includes multiple perforation, wherein the multiple to wear Hole is evenly spaced apart along the length of the material bands and is used to distribute the material bands from the spool.

19. a kind of method for constructing aircraft reinforcer, which comprises

Strips of composite material is distributed from energy spinning reel；

Make the strips of composite material by forming boots, the forming boots include the forming surface contacted with the material bands,

Wherein, the material bands are transmitted to the second end of the forming boots from the first end of the forming boots, make It obtains the material bands and is transitioned into the termination shape from the original shape to form stringer layer；And

The stringer layer of forming is deposited to and is applied on surface.

20. according to the method for claim 19, further comprising:

Push the stringer layer of forming far from the second end on the forming surface；And

Stringer layer relative to the application surface positioning forming.